\hypertarget{classPriorityTasks}{}\doxysection{Priority\+Tasks Class Reference}
\label{classPriorityTasks}\index{PriorityTasks@{PriorityTasks}}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
void \mbox{\hyperlink{classPriorityTasks_ad2ab5b914b5af26a9f6dafa3c77bcd70}{add\+Task}} (const char $\ast$name)
\begin{DoxyCompactList}\small\item\em add a task to task\+Lib \end{DoxyCompactList}\item 
int \mbox{\hyperlink{classPriorityTasks_a3a3ac349eeaae9f95e3f2efc25ece43a}{get\+Id}} (const std\+::string \&name)
\begin{DoxyCompactList}\small\item\em Get the task id with the given name. \end{DoxyCompactList}\item 
int \mbox{\hyperlink{classPriorityTasks_a6f39ab665a89a89f5b90e95264a6ac1a}{get\+Id}} (const char $\ast$name)
\begin{DoxyCompactList}\small\item\em Get the task id with the given name. \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classPriorityTasks_a7ce471672b0d7f93cc2ca457594e4695}{build\+Priority}} (const std\+::vector$<$ std\+::string $>$ \&task\+Order)
\begin{DoxyCompactList}\small\item\em setup the task priority \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classPriorityTasks_ae7d53e762bf5f6481aa8af522430b3a4}{compute\+All}} (const Eigen\+::\+Vector\+Xd \&des\+\_\+delta\+\_\+q, const Eigen\+::\+Vector\+Xd \&des\+\_\+dq, const Eigen\+::\+Vector\+Xd \&des\+\_\+ddq, const Eigen\+::\+Matrix\+Xd \&dyn\+\_\+M, const Eigen\+::\+Matrix\+Xd \&dyn\+\_\+\+M\+\_\+inv, const Eigen\+::\+Vector\+Xd \&dq)
\begin{DoxyCompactList}\small\item\em compute desired delta\+\_\+q, dq, ddq to execute the tasks \end{DoxyCompactList}\item 
void \mbox{\hyperlink{classPriorityTasks_a56696b9ae3f9e66780d7660311f1689a}{print\+Task\+Info}} ()
\begin{DoxyCompactList}\small\item\em print all the tasks names and their parent task id and child task id \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classPriorityTasks_a91a9d5cd5b5dd9224c8ac75673b96e00}\label{classPriorityTasks_a91a9d5cd5b5dd9224c8ac75673b96e00}} 
std\+::vector$<$ \mbox{\hyperlink{structTask}{Task}} $>$ \mbox{\hyperlink{classPriorityTasks_a91a9d5cd5b5dd9224c8ac75673b96e00}{task\+Lib}}
\begin{DoxyCompactList}\small\item\em task library, including all the tasks which should be considered \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_ae91eaee730a601061f4f89a24c6e1836}\label{classPriorityTasks_ae91eaee730a601061f4f89a24c6e1836}} 
std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classPriorityTasks_ae91eaee730a601061f4f89a24c6e1836}{name\+List}}
\begin{DoxyCompactList}\small\item\em task names list, one to one in task library \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_ac999a037ae8fe0b4f77acf3da58587ad}\label{classPriorityTasks_ac999a037ae8fe0b4f77acf3da58587ad}} 
std\+::vector$<$ int $>$ \mbox{\hyperlink{classPriorityTasks_ac999a037ae8fe0b4f77acf3da58587ad}{id\+List}}
\begin{DoxyCompactList}\small\item\em task id list NO U\+SE \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_a79bdfa4a83aae2f3968b32c005f50423}\label{classPriorityTasks_a79bdfa4a83aae2f3968b32c005f50423}} 
std\+::vector$<$ int $>$ \mbox{\hyperlink{classPriorityTasks_a79bdfa4a83aae2f3968b32c005f50423}{parent\+Id\+List}}
\begin{DoxyCompactList}\small\item\em parent task id list NO U\+SE \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_a996beaefca8126343667cb80d5e0798b}\label{classPriorityTasks_a996beaefca8126343667cb80d5e0798b}} 
std\+::vector$<$ int $>$ \mbox{\hyperlink{classPriorityTasks_a996beaefca8126343667cb80d5e0798b}{child\+Id\+List}}
\begin{DoxyCompactList}\small\item\em child task id list NO U\+SE \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_adae2ae0a7297db83c589f7b4d26cbe02}\label{classPriorityTasks_adae2ae0a7297db83c589f7b4d26cbe02}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{classPriorityTasks_adae2ae0a7297db83c589f7b4d26cbe02}{out\+\_\+delta\+\_\+q}}
\begin{DoxyCompactList}\small\item\em the final delta q calculated to execute tasks \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_a5400e52d0704615006046d3d8f0d028a}\label{classPriorityTasks_a5400e52d0704615006046d3d8f0d028a}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{classPriorityTasks_a5400e52d0704615006046d3d8f0d028a}{out\+\_\+dq}}
\begin{DoxyCompactList}\small\item\em the final dq calculated to execute tasks \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_a09f59b5e96992cea32ed2f6979b244c2}\label{classPriorityTasks_a09f59b5e96992cea32ed2f6979b244c2}} 
Eigen\+::\+Vector\+Xd \mbox{\hyperlink{classPriorityTasks_a09f59b5e96992cea32ed2f6979b244c2}{out\+\_\+ddq}}
\begin{DoxyCompactList}\small\item\em the final ddq calculated to execute tasks \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classPriorityTasks_a035d4efdf1035ca2f94c83721e5b68c7}\label{classPriorityTasks_a035d4efdf1035ca2f94c83721e5b68c7}} 
int \mbox{\hyperlink{classPriorityTasks_a035d4efdf1035ca2f94c83721e5b68c7}{start\+Id}}
\begin{DoxyCompactList}\small\item\em the id of the task with highest priority \end{DoxyCompactList}\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 48 of file priority\+\_\+tasks.\+h.



\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classPriorityTasks_ad2ab5b914b5af26a9f6dafa3c77bcd70}\label{classPriorityTasks_ad2ab5b914b5af26a9f6dafa3c77bcd70}} 
\index{PriorityTasks@{PriorityTasks}!addTask@{addTask}}
\index{addTask@{addTask}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{addTask()}{addTask()}}
{\footnotesize\ttfamily void Priority\+Tasks\+::add\+Task (\begin{DoxyParamCaption}\item[{const char $\ast$}]{name }\end{DoxyParamCaption})}



add a task to task\+Lib 


\begin{DoxyParams}{Parameters}
{\em name} & task name \\
\hline
\end{DoxyParams}


Definition at line 10 of file priority\+\_\+tasks.\+cpp.



References name\+List, and task\+Lib.



Referenced by W\+B\+C\+\_\+priority\+::\+W\+B\+C\+\_\+priority().

\mbox{\Hypertarget{classPriorityTasks_a7ce471672b0d7f93cc2ca457594e4695}\label{classPriorityTasks_a7ce471672b0d7f93cc2ca457594e4695}} 
\index{PriorityTasks@{PriorityTasks}!buildPriority@{buildPriority}}
\index{buildPriority@{buildPriority}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{buildPriority()}{buildPriority()}}
{\footnotesize\ttfamily void Priority\+Tasks\+::build\+Priority (\begin{DoxyParamCaption}\item[{const std\+::vector$<$ std\+::string $>$ \&}]{task\+Order }\end{DoxyParamCaption})}



setup the task priority 


\begin{DoxyParams}{Parameters}
{\em task\+Order} & the name vector of task from the highest priority to the lowest \\
\hline
\end{DoxyParams}


Definition at line 35 of file priority\+\_\+tasks.\+cpp.



References get\+Id(), start\+Id, and task\+Lib.



Referenced by W\+B\+C\+\_\+priority\+::\+W\+B\+C\+\_\+priority().

\mbox{\Hypertarget{classPriorityTasks_ae7d53e762bf5f6481aa8af522430b3a4}\label{classPriorityTasks_ae7d53e762bf5f6481aa8af522430b3a4}} 
\index{PriorityTasks@{PriorityTasks}!computeAll@{computeAll}}
\index{computeAll@{computeAll}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{computeAll()}{computeAll()}}
{\footnotesize\ttfamily void Priority\+Tasks\+::compute\+All (\begin{DoxyParamCaption}\item[{const Eigen\+::\+Vector\+Xd \&}]{des\+\_\+delta\+\_\+q,  }\item[{const Eigen\+::\+Vector\+Xd \&}]{des\+\_\+dq,  }\item[{const Eigen\+::\+Vector\+Xd \&}]{des\+\_\+ddq,  }\item[{const Eigen\+::\+Matrix\+Xd \&}]{dyn\+\_\+M,  }\item[{const Eigen\+::\+Matrix\+Xd \&}]{dyn\+\_\+\+M\+\_\+inv,  }\item[{const Eigen\+::\+Vector\+Xd \&}]{dq }\end{DoxyParamCaption})}



compute desired delta\+\_\+q, dq, ddq to execute the tasks 


\begin{DoxyParams}{Parameters}
{\em des\+\_\+delta\+\_\+q\mbox{[}in\mbox{]}} & desired delta\+\_\+q to execute the tasks \\
\hline
{\em des\+\_\+dq\mbox{[}in\mbox{]}} & desired dq to execute the tasks \\
\hline
{\em des\+\_\+ddq\mbox{[}in\mbox{]}} & desired ddq to execute the tasks \\
\hline
{\em dyn\+\_\+\+M\mbox{[}in\mbox{]}} & generalized mass matrix in dynamic equation of motion \\
\hline
{\em dyn\+\_\+\+M\+\_\+inv\mbox{[}in\mbox{]}} & inverse of generalized mass matrix \\
\hline
{\em dq\mbox{[}in\mbox{]}} & current dq(generalized velocity) of the robot\\
\hline
\end{DoxyParams}
\begin{DoxyNote}{Note}
should setup task priority and update task info 
\end{DoxyNote}


Definition at line 66 of file priority\+\_\+tasks.\+cpp.



References out\+\_\+ddq, out\+\_\+delta\+\_\+q, out\+\_\+dq, start\+Id, and task\+Lib.



Referenced by W\+B\+C\+\_\+priority\+::compute\+Ddq().

\mbox{\Hypertarget{classPriorityTasks_a6f39ab665a89a89f5b90e95264a6ac1a}\label{classPriorityTasks_a6f39ab665a89a89f5b90e95264a6ac1a}} 
\index{PriorityTasks@{PriorityTasks}!getId@{getId}}
\index{getId@{getId}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{getId()}{getId()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
{\footnotesize\ttfamily int Priority\+Tasks\+::get\+Id (\begin{DoxyParamCaption}\item[{const char $\ast$}]{name }\end{DoxyParamCaption})}



Get the task id with the given name. 


\begin{DoxyParams}{Parameters}
{\em name} & task name \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
int returns -\/1 if not find 
\end{DoxyReturn}


Definition at line 25 of file priority\+\_\+tasks.\+cpp.



References name\+List.

\mbox{\Hypertarget{classPriorityTasks_a3a3ac349eeaae9f95e3f2efc25ece43a}\label{classPriorityTasks_a3a3ac349eeaae9f95e3f2efc25ece43a}} 
\index{PriorityTasks@{PriorityTasks}!getId@{getId}}
\index{getId@{getId}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{getId()}{getId()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
{\footnotesize\ttfamily int Priority\+Tasks\+::get\+Id (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})}



Get the task id with the given name. 


\begin{DoxyParams}{Parameters}
{\em name} & task name \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
int returns -\/1 if not find 
\end{DoxyReturn}


Definition at line 16 of file priority\+\_\+tasks.\+cpp.



References name\+List.



Referenced by build\+Priority(), and W\+B\+C\+\_\+priority\+::compute\+Ddq().

\mbox{\Hypertarget{classPriorityTasks_a56696b9ae3f9e66780d7660311f1689a}\label{classPriorityTasks_a56696b9ae3f9e66780d7660311f1689a}} 
\index{PriorityTasks@{PriorityTasks}!printTaskInfo@{printTaskInfo}}
\index{printTaskInfo@{printTaskInfo}!PriorityTasks@{PriorityTasks}}
\doxysubsubsection{\texorpdfstring{printTaskInfo()}{printTaskInfo()}}
{\footnotesize\ttfamily void Priority\+Tasks\+::print\+Task\+Info (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}



print all the tasks names and their parent task id and child task id 



Definition at line 57 of file priority\+\_\+tasks.\+cpp.



References task\+Lib.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
priority\+\_\+tasks.\+h\item 
priority\+\_\+tasks.\+cpp\end{DoxyCompactItemize}
